Control device and method for forward collision avoidance in vehicle

ABSTRACT

Disclosed herein are a control device and method for forward collision avoidance in a vehicle. The control device for forward collision avoidance in a vehicle includes a forward object determination unit configured to recognize an object in front of the vehicle and to determine an attribute of the recognized object, a gear position detection unit configured to detect a gear position of the vehicle, and a forward collision-avoidance assist (FCA) control unit configured to finally determine the attribute of the object determined by the forward object determination unit according to the gear position input from the gear position detection unit and to set an FCA control range based on the finally determined object attribute.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority under 35 U.S.C. § 119(a) toKorean Patent Application No. 10-2018-0076909, filed on Jul. 3, 2018 inthe Korean Intellectual Property Office, which is incorporated herein byreference in its entirety.

BACKGROUND 1. Technical Field

Embodiments of the present disclosure relate to a control device andmethod for forward collision avoidance in a vehicle, and moreparticularly, to a control device and method for forward collisionavoidance in a vehicle, which determine a forward object attribute byreflecting gear position information for forward collision-avoidanceassist (FCA) control in an FCA system using a radar sensor as a singlesensor.

2. Related Art

In general, the vehicle is a device that drives its wheels to transportpeople, cargoes, or the like from one place to another place. Examplesof the vehicle include a train as well as a two-wheeled vehicle such asa motorcycle and a four-wheeled vehicle such as a sedan.

In order to increase the safety and convenience of users who utilize avehicle in recent years, the development of technology for combining avariety of sensors and electronic devices with the vehicle has beenaccelerated.

In particular, the vehicle is equipped with systems that provide variousfunctions (e.g., forward collision-avoidance assist (FCA), smart cruisecontrol (SCC), lane keeping assistance (LKA), autonomous emergencybraking (AEB), highway drive assistance (HAD), and so on) developed forthe convenience of user operation.

Meanwhile, in the development of these systems, a system has beendeveloped that minimizes the number of sensors to be used for securing aproduct's competitiveness.

Especially, in the case of an FCA system, the system has conventionallybeen developed using the fusion of a camera and a radar, whereas thesystem has recently been developed using only a single sensor such as aradar or a camera for application to small vehicles. The FCA system isalso referred to as an autonomous emergency braking (AEB) system.

However, if the system is configured with only the single sensor, thereare more restrictions than when configuring the system using two or moresensors.

Conventionally, the FCA system configured using only the radarrecognizes presence of a forward object using radio waves of the radarand obtains the speed and distance of a vehicle relative to the forwardobject using the wheel speed of the vehicle as basic information.However, it is difficult to identify the forward/backward direction ofthe vehicle using the wheel speed. For example, when the vehicle movesbackward, the attribute of the object may be erroneously determined.That is, the vehicle moves backward so that the attribute of the objectis changed from a stationary object to a moving object, which may leadto determining, as a control target, and performing erroneous control onan object that is not a vehicle, namely, the control target.

The foregoing is disclosed in Korean Patent Application Publication No.10-2018-0066524 (published on Jun. 19, 2018), entitled “Vehicle andControl Method thereof”.

SUMMARY

Various embodiments are directed to a control device and method forforward collision avoidance in a vehicle, capable of preventing aforward object attribute from being erroneously determined in a neutralsituation by reflecting gear position information for forwardcollision-avoidance assist (FCA) control in an FCA system using a radarsensor as a single sensor.

In an embodiment, there is provided a control device for forwardcollision avoidance in a vehicle, which includes a forward objectdetermination unit configured to recognize an object in front of thevehicle and to determine an attribute of the recognized object, a gearposition detection unit configured to detect a gear position of thevehicle, and a forward collision-avoidance assist (FCA) control unitconfigured to finally determine the attribute of the object determinedby the forward object determination unit according to the gear positioninput from the gear position detection unit and to set an FCA controlrange based on the finally determined object attribute.

The FCA control unit may receive a current gear position from the gearposition detection unit and a gear position at the time when the objectis recognized by the forward object determination unit.

When the object is recognized by the forward object determination unitand the current gear position is in an N-range, the FCA control unit mayfinally determine the object attribute according to the gear position atthe time when the object is recognized.

When the attribute of the object recognized by the forward objectdetermination unit is a moving object, the current gear position is inthe N-range, and the gear position at the time when the moving object isrecognized is in the N-range, the FCA control unit may change theattribute of the moving object to a stationary object. On the otherhand, when the attribute of the object recognized by the forward objectdetermination unit is a moving object, the current gear position is inthe N-range, and the gear position at the time when the moving object isrecognized is not in the N-range, the FCA control unit may maintain theattribute of the moving object as a moving object.

The forward object determination unit may receive detected values from aradar sensor for recognizing the object in front of the vehicle and awheel speed sensor for measuring a wheel speed of the vehicle, andcalculate a speed and distance of the vehicle relative to the recognizedobject through the radar sensor to determine the object attribute basedon the same.

In an embodiment, there is provided a control method for forwardcollision avoidance in a vehicle, which includes inputting a result ofdetermining an object in front of a vehicle recognized by a forwardobject determination unit to an FCA control unit, inputting a gearposition of the vehicle from a gear position detection unit to the FCAcontrol unit, finally determining an attribute of the object, recognizedby the forward object determination unit according to the gear positioninput from the gear position detection unit, by the FCA control unit,and setting an FCA control range, based on the finally determined objectattribute, by the FCA control unit.

The FCA control unit may receive a current gear position from the gearposition detection unit and a gear position at the time when the objectis recognized by the forward object determination unit.

In the finally determining an attribute of the object, when the objectis recognized by the forward object determination unit and the currentgear position is in an N-range, the FCA control unit may finallydetermine the object attribute according to the gear position at thetime when the object is recognized.

In the finally determining an attribute of the object, when theattribute of the object recognized by the forward object determinationunit is a moving object, the current gear position is in the N-range,and the gear position at the time when the moving object is recognizedis in the N-range, the FCA control unit may change the attribute of themoving object to a stationary object. On the other hand, when theattribute of the object recognized by the forward object determinationunit is a moving object, the current gear position is in the N-range,and the gear position at the time when the moving object is recognizedis not in the N-range, the FCA control unit may maintain the attributeof the moving object as a moving object.

In the inputting a result of determining an object in front of avehicle, the forward object determination unit may receive detectedvalues from a radar sensor for recognizing the object in front of thevehicle and a wheel speed sensor for measuring a wheel speed of thevehicle, and calculate a speed and distance of the vehicle relative tothe recognized object through the radar sensor to determine the objectattribute based on the same.

As apparent from the above description, the control device and methodfor forward collision avoidance in a vehicle according to the exemplaryembodiments of the present invention are effective in that it ispossible to prevent the forward object attribute from being erroneouslydetermined in the neutral situation and to prevent the malfunction ofthe vehicle due to the erroneous determination of the object attributesince they finally determine the object attribute by further reflectingthe gear position information to the result of determining the objectattribute through the radar sensor for FCA control in the FCA systemusing the radar sensor as a single sensor.

Therefore, the control device and method for forward collision avoidancein a vehicle according to the exemplary embodiments of the presentinvention are effective in that it is possible to improve the controlaccuracy of the FCA system and enhance user's satisfaction and productreliability.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a control device for forwardcollision avoidance in a vehicle according to an embodiment of thepresent invention.

FIG. 2 is a flowchart illustrating a control method for forwardcollision avoidance in a vehicle according to an embodiment of thepresent invention.

DETAILED DESCRIPTION

The invention is described more fully hereinafter with reference to theaccompanying drawings, in which embodiments of the invention are shown.This invention may, however, be embodied in many different forms andshould not be construed as limited to the embodiments set forth herein.Rather, these embodiments are provided so that this disclosure isthorough, and will fully convey the scope of the invention to thoseskilled in the art. Like reference numerals in the drawings denote likeelements.

Various advantages and features of the present invention and methodsaccomplishing thereof will become apparent from the followingdescription of embodiments with reference to the accompanying drawings.However, the present invention is not be limited to the embodiments setforth herein but may be implemented in many different forms. The presentembodiments may be provided so that the disclosure of the presentinvention will be complete, and will fully convey the scope of theinvention to those skilled in the art and therefore the presentinvention will be defined within the scope of claims. Like referencenumerals throughout the description denote like elements.

Unless defined otherwise, it is to be understood that all the terms(including technical and scientific terms) used in the specification hasthe same meaning as those that are understood by those who skilled inthe art. Further, the terms defined by the dictionary generally usedshould not be ideally or excessively formally defined unless clearlydefined specifically. It will be understood that for purposes of thisdisclosure, “at least one of X, Y, and Z” can be construed as X only, Yonly, Z only, or any combination of two or more items X, Y, and Z (e.g.,XYZ, XYY, YZ, ZZ). Unless particularly described to the contrary, theterm “comprise”, “configure”, “have”, or the like, which are describedherein, will be understood to imply the inclusion of the statedcomponents, and therefore should be construed as including othercomponents, and not the exclusion of any other elements.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this disclosure is a part. Terms,such as those defined in commonly used dictionaries, should beinterpreted as having a meaning that is consistent with their meaning inthe context of the relevant art and will not be interpreted in anidealized or overly formal sense, unless expressly so defined herein.

As is traditional in the corresponding field, some exemplary embodimentsmay be illustrated in the drawings in terms of functional blocks, units,and/or modules. Those of ordinary skill in the art will appreciate thatthese block, units, and/or modules are physically implemented byelectronic (or optical) circuits such as logic circuits, discretecomponents, processors, hard-wired circuits, memory elements, wiringconnections, and the like. When the blocks, units, and/or modules areimplemented by processors or similar hardware, they may be programmedand controlled using software (e.g., code) to perform various functionsdiscussed herein. Alternatively, each block, unit, and/or module may beimplemented by dedicated hardware or as a combination of dedicatedhardware to perform some functions and a processor (e.g., one or moreprogrammed processors and associated circuitry) to perform otherfunctions. Each block, unit, and/or module of some exemplary embodimentsmay be physically separated into two or more interacting and discreteblocks, units, and/or modules without departing from the scope of theinventive concept. Further, blocks, units, and/or module of someexemplary embodiments may be physically combined into more complexblocks, units, and/or modules without departing from the scope of theinventive concept.

Hereinafter, a control device and method for forward collision avoidancein a vehicle will be described below with reference to the accompanyingdrawings through various examples of embodiments. It should be notedthat the drawings are not necessarily to scale and may be exaggerated inthickness of lines or sizes of components for clarity and convenience ofdescription.

Furthermore, the terms as used herein are terms defined in considerationof functions of the invention and may change depending on the intentionor practice of a user or an operator. Therefore, these terms should bedefined based on the overall disclosures set forth herein.

FIG. 1 is a block diagram illustrating a control device for forwardcollision avoidance in a vehicle according to an embodiment of thepresent invention. The control device for forward collision avoidance ina vehicle will be described below with reference to the drawing.

As illustrated in FIG. 1, the control device for forward collisionavoidance in a vehicle according to the embodiment of the presentinvention includes a forward sensor unit 10, a forward objectdetermination unit 20, a gear position detection unit 30, and a forwardcollision-avoidance assist (FCA) control unit 40.

First, the embodiment relates to a radar-only FCA system. In otherwords, the embodiment is aimed at determining an object attribute in anFCA system that recognizes a forward object using only a radar sensor 12as a forward sensor, determines the speed and distance of a vehiclerelative to the recognized object through a wheel speed sensor 14previously mounted to the vehicle to inform a driver of a risk by awarning message, a warning sound, or the like in the event of acollision risk, and actuates a brake when necessary to reduce damage.

The forward sensor unit 10 includes a radar sensor 12. In theembodiment, the forward sensor unit 10 is illustrated as including awheel speed sensor 14 in FIG. 1 in that the attribute of a detectedobject in front of the vehicle is determined through values detected bythe radar sensor 12 and the wheel speed sensor 14. However, the wheelspeed sensor 14 may be a separate sensor previously mounted to thevehicle. That is, the wheel speed sensor 14 may be included in a sensormeans for providing vehicle signal information.

The forward object determination unit 20 recognizes an object in frontof the vehicle and determines the attribute of the recognized object.That is, the forward object determination unit 20 may receive detectedvalues from the radar sensor 12 for recognizing an object in front ofthe vehicle and the wheel speed sensor 14 for measuring the wheel speedof the vehicle, and calculate the speed and distance of the vehiclerelative to the recognized object through the radar sensor 12 todetermine the object attribute based on the same.

In this case, the wheel speed sensor 14 may detect only the wheel speedof the vehicle, but may not determine the forward/backward direction ofthe wheel of the vehicle. Accordingly, in the embodiment, the forwardobject detection unit 20 may determine the attribute of the recognizedobject based on the gear position information of the vehicle detected bythe gear position detection unit 30.

The gear position detection unit 30 detects the gear position of thevehicle. The gear position detection unit 30 may detect a current gearposition of the vehicle and a gear position at the time when an objectis recognized by the forward object determination unit 20, to providethem to the FCA control unit 40.

For example, when the vehicle is pushed backward on the slope in thestate in which the current gear position of the vehicle is in an N-range(neutral range), a stationary object may be erroneously determined as amoving object due to the wheel speed detected by the wheel speed sensor14, thereby causing FCA control to be erroneously performed.

Thus, in the embodiment, the forward object determination unit 20recognizes an object in front of the vehicle through the radar sensor12, determines the attribute of the recognized object through the wheelspeed sensor 14, and reflects the gear position information of thevehicle to the determined attribute to finally determine the attributeof the object.

As described above, the FCA control unit 40 may perform FCA controlafter it finally determines the attribute of the object determined bythe forward object determination unit 20 according to the gear positioninput from the gear position detection unit 30 and sets an FCA controlrange based on the finally determined object attribute.

In the embodiment, the FCA control unit 40 may receive the current gearposition of the vehicle from the gear position detection unit 30 and thegear position at the time when the object is recognized by the forwardobject determination unit 20, as described above. That is, the FCAcontrol unit 40 may finally determine the attribute of the recognizedobject according to the current gear position and the gear position atthe time when the object is recognized.

In the embodiment, when the object is recognized by the forward objectdetermination unit 20, the FCA control unit 40 checks whether thecurrent gear position is in the N-range. In this case, when the currentgear position is in the N-range, the FCA control unit 40 may finallydetermine the object attribute according to the gear position at thetime when the object is recognized. This is to prevent the attribute ofthe object from being misrecognized when the current gear position is inthe N-range.

More specifically, when the attribute of the object recognized by theforward object determination unit 20 is a moving object, the currentgear position is in the N-range, and the gear position at the time whenthe moving object is recognized is in the N-range, the FCA control unit40 may change the attribute of the moving object to a stationary objectand finally determine the object attribute. On the other hand, when theattribute of the object recognized by the forward object determinationunit 20 is a moving object, the current gear position is in the N-range,and the gear position at the time when the moving object is recognizedis not in the N-range, the FCA control unit 40 may maintain theattribute of the moving object as a moving object and finally determinethe object attribute.

In the embodiment, when a moving object is recognized in front of thevehicle, there is a possibility that the attribute of the moving objectis misrecognized when the current gear position is in the N-range.Therefore, the gear position at the time when the moving object isrecognized is further checked.

In other words, when the gear position at the time when the movingobject is recognized is not in the N-range even though the current gearposition is in the N-range, the FCA control unit 40 may determine thatthe object attribute is properly determined, thereby maintaining theobject attribute to perform the FCA control. When the gear position atthe time point when the moving object is recognized is in the N-range,the FCA control unit 40 determines that, as a vehicle moves backward ina neutral situation, the attribute of the stationary object is changedto a moving object, namely, the stationary object that is not an FCAcontrol target is misrecognized as a moving object (e.g., anothervehicle) that is an FCA control target. Thus, the FCA control unit 40changes the attribute of the moving object to perform FCA control.

In the embodiment, it is described that the FCA control unit 40 checkswhether the attribute of the object recognized by the forward objectdetermination unit 20 is a moving object and then checks the currentgear position of the vehicle. However, the FCA control unit 40 may checkthe current gear position of the vehicle and then check whether theattribute of the object recognized by the forward object determinationunit 20 is a moving object. The present invention is not limited to theabove order.

FIG. 2 is a flowchart illustrating a control method for forwardcollision avoidance in a vehicle according to an embodiment of thepresent invention. The control method for forward collision avoidance ina vehicle will be described below with reference to the drawing.

As illustrated in FIG. 2, the control method for forward collisionavoidance in a vehicle according to the embodiment of the presentinvention includes inputting a result of determining an object in frontof a vehicle recognized by a forward object determination unit 20 to anFCA control unit 40 (S10).

In this case, the forward object determination unit 20 recognizes theobject in front of the vehicle and determines the attribute of therecognized object. That is, the forward object determination unit 20 mayreceive detected values from a radar sensor 12 for recognizing theobject in front of the vehicle and a wheel speed sensor 14 for measuringthe wheel speed of the vehicle, and calculate the speed and distance ofthe vehicle relative to the recognized object through the radar sensor12 to determine the object attribute based on the same.

Next, the FCA control unit 40 checks whether the attribute of the objectrecognized by the forward object determination unit 20 in step S10 is amoving object (S20).

In this case, when the attribute of the object recognized by the forwardobject determination unit 20 is not a moving object, namely, when it isa stationary object, the FCA control unit 40 may maintain the attributeof the recognized object as a stationary object and finally determinethe object attribute (S50). However, in the embodiment, when theattribute of the object recognized by the forward object determinationunit 20 is a stationary object, the step of finally determining theobject attribute may also be omitted because it is a stationary objectregardless of the gear position.

On the other hand, when it is checked that the attribute of the objectrecognized by the forward object determination unit 20 is the movingobject in step S20, the FCA control unit 40 checks whether the currentgear position is in an N-range (S30).

When it is checked in step S30 that the current gear position is in theN-range, the FCA control unit 40 checks whether the gear position at thetime when the object is recognized by the forward object determinationunit 20 is in the N-range (S40).

In this case, the FCA control unit 40 may receive the current gearposition of the vehicle from a gear position detection unit 30 and thegear position at the time when the object is recognized by the forwardobject determination unit 20. That is, in the embodiment, the FCAcontrol unit 40 may finally determine the attribute of the recognizedobject according to the current gear position and the gear position atthe time when the object is recognized. In the embodiment, when theobject is recognized by the forward object determination unit 20, theFCA control unit 40 checks whether the current gear position is in theN-range. When the current gear position is in the N-range, the FCAcontrol unit 40 may finally determine the object attribute according tothe gear position at the time when the object is recognized. This is toprevent the attribute of the object from being misrecognized when thecurrent gear position is in the N-range.

In summary, when it is checked in step S20 that the attribute of theobject recognized by the forward object determination unit 20 is themoving object, it is checked in step S30 that the current gear positionis in the N-range, and it is checked in step S40 that the gear positionat the time when the moving object is recognized is in the N-range, theFCA control unit 40 changes the attribute of the moving object to astationary object and finally determines the object attribute (S50).

That is, when the gear position at the time point when the moving objectis recognized is in the N-range, the FCA control unit 40 determinesthat, as a vehicle moves backward in a neutral situation, the attributeof the stationary object is changed to a moving object, namely, thestationary object that is not an FCA control target is misrecognized asa moving object (e.g., another vehicle) that is an FCA control target.Thus, the FCA control unit 40 may change the attribute of the movingobject to perform FCA control.

On the other hand, when it is checked in step S20 that the attribute ofthe object recognized by the forward object determination unit 20 is themoving object, it is checked in step S30 that the current gear positionis in the N-range, and it is checked in step S40 that the gear positionat the time when the moving object is recognized is not in the N-range,the FCA control unit 40 may maintain the attribute of the moving objectas a moving object and finally determine the object attribute(S60).

In the embodiment, when the moving object is recognized in front of thevehicle, there is a possibility that the attribute of the moving objectis misrecognized when the current gear position is in the N-range.Therefore, the gear position at the time when the moving object isrecognized is further checked.

In other words, when it is determined in step S40 that the gear positionat the time when the moving object is recognized is not in the N-rangeeven though it is checked in step S30 that the current gear position isnot in the N-range or it is checked in step S30 that the current gearposition is in the N-range, the FCA control unit 40 may determine thatthe object attribute is properly determined, thereby maintaining theobject attribute as the moving object to perform the FCA control.

In the embodiment, when the gear position at the time when the object isrecognized by the forward object determination unit 20 is not in theN-range, it is possible to maintain the attribute of the objectrecognized by the forward object determination unit 20 regardless of thecurrent gear position. In addition, even when the current gear positionis not in the N-range, it is possible to maintain the attribute of theobject recognized by the forward object determination unit 20 regardlessof the time when the object is recognized by the forward objectdetermination unit 20.

Meanwhile, although the FCA system is described as an example in theembodiment, the present invention may be applied to various systems(e.g., smart cruise control (SCC), lane keeping assistance (LKA),autonomous emergency braking (AEB), highway drive assistance (HAD), andso on) developed for the convenience of user operation.

As described above, the control device and method for forward collisionavoidance in a vehicle according to the exemplary embodiments of thepresent invention are effective in that it is possible to prevent theforward object attribute from being erroneously determined in theneutral situation and to prevent the malfunction of the vehicle due tothe erroneous determination of the object attribute since they finallydetermine the object attribute by further reflecting the gear positioninformation to the result of determining the object attribute throughthe radar sensor for FCA control in the FCA system using the radarsensor as a single sensor.

Therefore, the control device and method for forward collision avoidancein a vehicle according to the exemplary embodiments of the presentinvention are effective in that it is possible to improve the controlaccuracy of the FCA system and enhance user's satisfaction and productreliability.

While various embodiments have been described above, it will beunderstood by those skilled in the art that the embodiments describedare by way of example only. It will be apparent to those skilled in theart that various modifications and other equivalent embodiments may bemade without departing from the spirit and scope of the disclosure.

Accordingly, the true technical protection scope of the invention shouldbe defined by the appended claims.

What is claimed is:
 1. A control device for forward collision avoidancein a vehicle, comprising: a forward object determination unit configuredto recognize an object in front of the vehicle and to determine anattribute of the recognized object; a gear position detection unitconfigured to detect a gear position of the vehicle; and a forwardcollision-avoidance assist (FCA) control unit configured to finallydetermine the attribute of the object determined by the forward objectdetermination unit according to the gear position input from the gearposition detection unit and to set an FCA control range based on thefinally determined object attribute.
 2. The control device according toclaim 1, wherein the FCA control unit receives a current gear positionfrom the gear position detection unit and a gear position at the timewhen the object is recognized by the forward object determination unit.3. The control device according to claim 2, wherein when the object isrecognized by the forward object determination unit and the current gearposition is in an N-range, the FCA control unit finally determines theobject attribute according to the gear position at the time when theobject is recognized.
 4. The control device according to claim 3,wherein when the attribute of the object recognized by the forwardobject determination unit is a moving object, the current gear positionis in the N-range, and the gear position at the time when the movingobject is recognized is in the N-range, the FCA control unit changes theattribute of the moving object a stationary object, whereas when theattribute of the object recognized by the forward object determinationunit is a moving object, the current gear position is in the N-range,and the gear position at the time when the moving object is recognizedis not in the N-range, the FCA control unit maintains the attribute ofthe moving object as a moving object.
 5. The control device according toclaim 1, wherein the forward object determination unit receives detectedvalues from a radar sensor for recognizing the object in front of thevehicle and a wheel speed sensor for measuring a wheel speed of thevehicle, and calculates a speed and distance of the vehicle relative tothe recognized object through the radar sensor to determine the objectattribute based on the same.
 6. A control method for forward collisionavoidance in a vehicle, comprising: inputting a result of determining anobject in front of a vehicle recognized by a forward objectdetermination unit to an FCA control unit; inputting a gear position ofthe vehicle from a gear position detection unit to the FCA control unit;finally determining an attribute of the object, recognized by theforward object determination unit according to the gear position inputfrom the gear position detection unit, by the FCA control unit; andsetting an FCA control range, based on the finally determined objectattribute, by the FCA control unit.
 7. The control method according toclaim 6, wherein the FCA control unit receives a current gear positionfrom the gear position detection unit and a gear position at the timewhen the object is recognized by the forward object determination unit.8. The control method according to claim 7, wherein in the finallydetermining an attribute of the object, when the object is recognized bythe forward object determination unit and the current gear position isin an N-range, the FCA control unit finally determines the objectattribute according to the gear position at the time when the object isrecognized.
 9. The control method according to claim 8, wherein in thefinally determining an attribute of the object, when the attribute ofthe object recognized by the forward object determination unit is amoving object, the current gear position is in the N-range, and the gearposition at the time when the moving object is recognized is in theN-range, the FCA control unit changes the attribute of the moving objectto a stationary object, whereas when the attribute of the objectrecognized by the forward object determination unit is a moving object,the current gear position is in the N-range, and the gear position atthe time when the moving object is recognized is not in the N-range, theFCA control unit maintains the attribute of the moving object as amoving object.
 10. The control method according to claim 6, wherein inthe inputting a result of determining an object in front of a vehicle,the forward object determination unit receives detected values from aradar sensor for recognizing the object in front of the vehicle and awheel speed sensor for measuring a wheel speed of the vehicle, andcalculates a speed and distance of the vehicle relative to therecognized object through the radar sensor to determine the objectattribute based on the same.